Self-Reconfigurable Modular Robots and their Symbolic Configuration Space - Archive ouverte HAL Access content directly
Conference Papers Year :

Self-Reconfigurable Modular Robots and their Symbolic Configuration Space

Souheib Baarir
  • Function : Author
  • PersonId : 961876
Lom Messan Hillah
Fabrice Kordon


Modular and self-reconfigurable robots are a powerful way to design versatile systems that can adapt themselves to different physical environment conditions. Self-reconfiguration is not an easy task since there are numerous possibilities of module organization. Moreover, some module organizations are equivalent one to another. In this paper, we apply symbolic representation techniques from model checking to provide an optimized representation of all configurations for a modular robot. The proposed approach captures symmetries of the system and avoids storing all the equivalences generated by permuting modules, for a given configuration. From this representation, we can generate a compact symbolic configuration space and use it to efficiently compute the moves required for self-reconfiguration (i.e. going from one configuration to another). A prototype implementation is used to provide some benchmarks showing promising results.

Dates and versions

hal-01288061 , version 1 (14-03-2016)



Souheib Baarir, Lom Messan Hillah, Fabrice Kordon, Etienne Renault. Self-Reconfigurable Modular Robots and their Symbolic Configuration Space. Modeling, Development and Verification of Adaptative Computer Systems: the Grand Challenge for Robust Software, 16th Monterey Workshop 2010, Redmond, Revised Selected Papers, Mar 2010, Redmond, United States. pp.103-121, ⟨10.1007/978-3-642-21292-5_6⟩. ⟨hal-01288061⟩
85 View
0 Download



Gmail Facebook Twitter LinkedIn More